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Consensus control for nonlinear multi-agent systems with event-triggered communications

APPLIED MATHEMATICS AND COMPUTATION 2021年 408卷 126341-126341页

作者： Zhang, Juan Zhang, Huaguang Cai, Yuliang Wang, Wei Northeastern Univ Coll Informat Sci & Engn Shenyang 110004 Liaoning Peoples R China Northeastern Univ State Key Lab Synthet Automat Proc Ind Shenyang 110004 Liaoning Peoples R China

This paper investigates the consensus problems for a class of nonlinear multi-agent systems (MASs) by distributed event-based control protocols. Firstly, we design the static distributed event-triggered control protocols to achieve leader-follower and leaderless consensus problems, respectively, and the systems exclude Zeno behavior under the proposed control schemes. In order to avoid utilizing the global information of the system networks, that is, the minimum eigenvalues of the correlation matrices. Then, the fully distributed event-based control schemes are designed by introducing the time-varying coupling weights to achieve the leader-follower and leaderless consensus problems, respectively. It has been shown that the Zeno behavior is ruled out in the MASs under the fully distributed event-based control protocols. All static and dynamic event-based control schemes are able to be constructed based on the solvability of linear matrix inequalities (LMIs). Finally, the rationality of the theoretical results is illustrated by the example. (c) 2021 Elsevier Inc. All rights reserved.

关键词： Lipschitz nonlinear dynamics Event-triggered mechanism Adaptive control distributed control protocol Zeno behavior

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Finite-Time Bipartite Consensus Problems for Signed Networks With Directed Topologies 9

Finite-Time Bipartite Consensus Problems for Signed Networks...

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9th IEEE Data Driven control and Learning Systems Conference (DDCLS)

作者： Du, Mingjun Yan, Zhiguo Qilu Univ Technol Shandong Acad Sci Sch Elect Engn & Automat Jinan 250353 Shandong Peoples R China Shandong Univ Sch Control Sci & Engn Jinan 250061 Shandong Peoples R China

ISBN: (纸本)9781728159225

This paper concentrates on investigating the finite-time bipartite consensus problems of directed signed networks subject to both cooperative interactions and antagonistic interactions. Based on the nearest neighbor rule, a distributed control protocol is proposed to make the signed network achieve the bipartite consensus and state stability within a finite time when its associated signed digraph is structurally balanced and unbalanced, respectively. With the help of improved Lyapunov potentials, the convergence analysis can be further derived for the proposed protocol. Two simulation examples are introduced to demonstrate the effectiveness of our developed results.

关键词： distributed control protocol finite-time bipartite consensus signed network directed topology

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Quasi-composite rotating formation control of second-order multi-agent systems

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IET control THEORY AND APPLICATIONS 2019年第10期13卷 1571-1578页

作者： Mo, Lipo Yuan, Xiaolin Yu, Yongguang Beijing Technol & Business Univ Sch Sci Beijing 100048 Peoples R China Beijing Jiaotong Univ Dept Math Beijing 100044 Peoples R China

In this study, quasi-composite rotating formation control for second-order multi-agent systems over undirected communication topology is considered. To solve this problem, a novel distributed control protocol based on the local information is proposed. Next, the origin closed-loop system is changed into an equivalent one by taking a proper coordinate transformation. Under some mild conditions, it is proved that the quasi-composite rotating formation can be reached by analysing the matrix eigenvalues of the closed-loop system. Finally, the simulation results are provided to demonstrate the effectiveness of the theoretical results.

关键词： closed loop systems multi-agent systems distributed control eigenvalues and eigenfunctions topology second-order multiagent systems quasicomposite rotating formation control undirected communication topology origin closed-loop system distributed control protocol coordinate transformation matrix eigenvalues

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distributed Economic Dispatch for Islanded DC Microgrids Based on Finite-Time Consensus protocol

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IEEE ACCESS 2020年 8卷 192457-192468页

作者： Zaery, Mohamed Wang, Panbao Huang, Rui Wang, Wei Xu, Dianguo Harbin Inst Technol Dept Elect Engn Harbin 150001 Peoples R China Aswan Univ Dept Elect Engn Fac Engn Aswan 81542 Egypt Chongqing Univ State Key Lab Power Transmiss Equipment & Syst Se Chongqing 400044 Peoples R China

This paper presents a fully distributed finite-time control strategy to optimize the load power dispatch of islanded DC microgrids (MGs) in a finite-time manner. In which, based on the finite-time consensus protocol, a power optimizer is developed to realize MG's optimal operation by matching the incremental costs (ICs) of all the distributed generators (DGs) within a finite settling time. Moreover, the finite-time voltage regulator restores the average voltage across the MG to preserve the power balance among generation and demand. The developed controller achieves an improved performance with an accelerated convergence rate, which is important for MGs with a high penetration level of renewable distributed generators (RDGs), over the conventional distributed secondary controllers. The convergence of the proposed controller is confirmed by a thorough analysis. The performance of the developed controller is validated through simulation and experimental results under different case studies.

关键词： distributed control protocol finite-time scheme optimal dispatch problem

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Fixed-time consensus tracking control for second-order multi-agent systems with bounded input uncertainties via NFFTSM

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IET control THEORY AND APPLICATIONS 2017年第16期11卷 2900-2909页

作者： Huang, Yi Jia, Yingmin Beihang Univ BUAA Sch Automat Sci & Elect Engn Res Div 7 Beijing 100191 Peoples R China Beihang Univ BUAA Sch Automat Sci & Elect Engn Ctr Informat & Control Beijing 100191 Peoples R China

This paper is devoted to the fixed-time consensus tracking control for second-order multi-agent systems with bounded input uncertainties under a weighted directed topology. Firstly, a novel non-singular fixed-time fast terminal sliding mode (NFFTSM) surface with bounded convergence time in regardless of the initial states is designed, and the explicit expression of the settling time is provided. Fair and unprejudiced comparisons show that the proposed NFFTSM has faster convergence performance than most typical terminal sliding modes in the existed results. Subsequently, by employing the proposed NFFTSM, a non-singular fixed-time distributed control protocol for second-order multi-agent systems is designed, which only requires one-hop information of the neighbours without the global topology information and has the advantage of fast convergence performance both in the reaching phase and sliding phase. Rigorous proofs show that the fixed-time consensus tracking control for second-order multi-agent systems can be guaranteed by the proposed distributed control protocol. Finally, numerical simulations are performed to demonstrate the effectiveness of the proposed control scheme.

关键词： multi-agent systems topology variable structure systems fixed-time consensus tracking control second-order multi-agent systems NFFTSM weighted directed topology novel nonsingular fixed-time fast terminal sliding mode surface terminal sliding modes distributed control protocol numerical simulations

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Region Reaching control of Networked Robot Systems 36

Region Reaching Control of Networked Robot Systems

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第36届中国控制会议

作者： Jianling Li Jinwei Yu Zhonghua Miao Jin Zhou Shanghai Institute of Applied Mathematics and Mechanics Shanghai University School of Mechatronic Engineering and Automation Shanghai University

ISBN: (纸本)9781538629185

This paper investigates the region reaching control problem of networked multi-robot systems modeled by Lagrangian *** primary objective is to develop the concept of region reaching control for single robot for the study of networked multi-robot systems under directed topology *** distributed region reaching control protocols for such networked multirobot systems are first proposed,and then some simple yet generic criteria on the convergence for such protocols are *** is shown that networked multi-robot systems can always reach the desired region under the proposed region reaching control protocols if the directed network topology graph has a directed spanning ***,simulation results are presented to illustrate the effectiveness of the theoretical analysis.

关键词： region reaching control networked multi-robot system distributed control protocol

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Multi-flocking of networked non-holonomic mobile robots with proximity graphs

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IET control THEORY AND APPLICATIONS 2016年第16期10卷 2093-2099页

作者： Zhao, Xiao-Wen Hu, Bin Guan, Zhi-Hong Chen, Chao-Yang Chi, Ming Zhang, Xian-He Huazhong Univ Sci & Technol Coll Automat Wuhan 430074 Peoples R China Hunan Univ Sci & Technol Sch Informat & Elect Engn Xiangtan 411201 Peoples R China Hubei Normal Univ Coll Mech & Control Engn Huangshi Peoples R China

In this study, the authors develop the collective motion of flocking of networked mobile robots with non-holonomic model via proximity graphs. To satisfy the requirements of different tasks, they formulate the notion of multi-flocking for networked non-holonomic mobile robots. Based on the neighbouring information, they propose a novel distributed control protocol for multi-flocking problem of networked non-holonomic mobile robots using potential function. By combing algebraic graph theory with Barbalat's lemma, the proposed distributed control protocol guarantees that the robots in the same subgroup asymptotically move with the same velocity and heading angle, while ensuring connectivity preservation of each subgraph and collision avoidance of the whole systems, if the initial proximity subgraph is connected. Finally, a numerical simulation is given to illustrate the theoretical results.

关键词： multi-robot systems mobile robots graph theory collision avoidance algebra multiflocking networked nonholonomic mobile robots proximity graphs neighbouring information distributed control protocol potential function algebraic graph theory Barbalat lemma connectivity preservation collision avoidance

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Finite-time Rotating Consensus Tracking control for Second-order Multi-agent Systems 35

Finite-time Rotating Consensus Tracking Control for Second-o...

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第35届中国控制会议

作者： Duan Guangren Zhang Dandan Center for Control Theory and Guidance Technology Harbin Institute of Technology

ISBN: (纸本)9781509009107

In this paper,finite-time rotating consensus tracking control for second-order multi-agent systems without relative velocity measurements is *** combining the graph theory,Lyapunov theory and the homogeneity with dilation,a distributed control protocol using only relative position is proposed to solve the finite-time rotating consensus tracking *** is shown that followers can track the leader in finite-time and move around a common point in a circular ***,a numerical simulation example is provided to illustrate the effectiveness of the theoretical result.

关键词： Finite-time Rotating Consensus Second-order Multi-agent Systems Homogeneity with Dilation distributed control protocol Circular Orbit

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A new protection scheme for a combined ring-star based hybrid WDM/TDM PON architecture

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OPTICAL SWITCHING AND NETWORKING 2015年第P2期18卷 153-168页

作者： Kanungoe, Anirban Mukhopadhyay, Atri Das, Goutam Banerjee, Ratul Das, Rabi IIT Kharagpur GS Sanyal Sch Telecommun Kharagpur W Bengal India

In this paper we propose a hybrid WDM/TDM PON architecture that utilizes a combined ring-star based connectivity to provide shared protection against optical line terminal (OLT) failure. We have further proposed an appropriate control mechanism governed by a proposed MAC protocol to reduce the protection switching time. We calculated the approximate reach of the proposed network. We have evaluated the availability figures of the network service per end-user subject to different failure scenarios within the proposed network architecture along with its associated capital expenditure (CAPEX) per user. Finally we have demonstrated that our proposed architecture provides a significant cost benefit over 1:1 protection scheme for achieving almost the same value of network availability. (C) 2014 Elsevier B.V. All rights reserved.

关键词： Optical access network distributed control protocol Availability CAPEX

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Improved protocols and Stability Analysis for Multivehicle Cooperative Autonomous Systems

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IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS 2015年第5期16卷 2700-2710页

作者： Liu, Yonggui Xu, Bugong S China Univ Technol Minist Educ Key Lab Autonomous Syst & Network Control Guangzhou 510641 Guangdong Peoples R China S China Univ Technol Coll Automat Sci & Engn Guangzhou 510640 Guangdong Peoples R China

With increasing growth of vehicles, traffic congestion and safety deserve to be looked at more closely. Cooperative autonomous driving is an effective solution to reduce traffic congestion and ensure traffic safety. In this paper, cooperative autonomous control of multiple vehicles is considered to realize sharing the same roads without collusion with each other. Lane-following and braking control are two basic operations of cooperative driving. The objectives of lane-following are to make intervehicles keep a safe spacing and run on the middle position of a lane. To reach the targets, two distributed control protocols are proposed in which we consider not only lateral control but also longitudinal control. The stability analysis is also shown for both the control protocols. Braking control is another basic operation for autonomous cooperative control. In order to make vehicles stop at the desired target stopping position (TSP), a new braking control protocol is also designed, and the convergence of which is analyzed and shown that, under three kinds of distinct braking control parameters, the position of the mass center of all vehicles exponentially converges to the TSP, and the velocity of the mass center of all vehicles exponentially converges to zero, which provide a guide for selecting the braking control parameters in real engineering applications. Moreover, the initial and limit conditions of position and velocity are discussed. Simulations demonstrate the validity and superiority of the proposed control protocols compared with existing approaches.

关键词： Cooperative control autonomous control stability analysis multiple vehicle systems distributed control protocol

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